US11675426B2 - Measurement method and device for performing the measurement method - Google Patents
Measurement method and device for performing the measurement method Download PDFInfo
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- US11675426B2 US11675426B2 US14/361,743 US201214361743A US11675426B2 US 11675426 B2 US11675426 B2 US 11675426B2 US 201214361743 A US201214361743 A US 201214361743A US 11675426 B2 US11675426 B2 US 11675426B2
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- camera
- intensity distribution
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
- G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
- G02B30/26—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the autostereoscopic type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/366—Image reproducers using viewer tracking
Definitions
- the present invention relates to a measurement method and to an apparatus for carrying out the measurement method.
- observers of these display devices require auxiliary means, for example head-mounted displays, lamps, polarization glasses or shutter glasses, in order to be able to three-dimensionally perceive the scenes displayed by the display devices.
- Display devices which allow the observers observation without additional auxiliary means are also known.
- these display devices for example autostereoscopic display devices or holographic display devices, information is required regarding where the observer or observers are situated in relation to the display device.
- evaluation units connected to the cameras recognize the face of an observer of the display device and can, in particular, determine the position of the eye pupils of the observer in relation to the position of the cameras.
- the recording direction of the cameras in relation to the display device is in this case predetermined in a fixed way, so that the position of the eye pupils in relation to the display device can be determined from the position of the eye pupils in relation to the cameras.
- the position and in particular the orientation of the camera in relation to the display device is altered.
- the position of the eye pupils in relation to the display device can no longer be determined accurately, or correctly, and recalibration of the device is necessary.
- the solution to the object consists in a measurement method, wherein by predetermined illumination by means of a display device, with an intensity distribution of the illumination light in a plane of a light source image, a first location of an object, is marked, and wherein the relative position of the first location in relation to a second location of the object is determined in a coordinate system of a camera.
- the invention is based on the concept that the display device itself is used as a means for determining the relative position of the first location of the object in relation to a second location of the object. Since the illumination for the display of image information is predetermined by the display device itself, it is possible to determine the position of the first location of the object and, by means of the relative position of the second location in relation to the first location in the coordinate system of the camera, also the position of the second location of the object in the coordinate system of the display device.
- Calibration of the camera that is to say determination of its position and orientation, in relation to the coordinate system of the display device can therefore be dispensed with.
- the intensity distribution of the illumination light in the plane of the light source image can be generated by constructive or destructive interference of coherent light beams. In this way, an intensity distribution of the illumination light varying strongly with the distance of the object from the display device can be achieved in a controlled way.
- An autostereoscopic display device can be composed of simpler modules than a holographic display device.
- autostereoscopic display devices do not require light sources that generate light with a large coherence length, in order to represent three-dimensional scenes. The use of an autostereoscopic display device can therefore make the method simpler.
- the marking of the first location of an observer of the display device may above all be advantageous when the display device is intended to interact with the observer. It is, however, also conceivable to mark the first location of an inanimate object so that it can be measured, or can be deliberately illuminated with a texture.
- the intensity distribution of the illumination light in the plane of the light source image comprises a light source image of a diffraction order.
- Display devices typically have a spatial modulator for light with a predetermined raster.
- the raster of the spatial modulator can be used as a natural diffraction grating with a predetermined grating period, so that the intensity distribution of the illumination light in the plane of the light source image may comprise a light source image of a diffraction order. It is conceivable to use the light source image of the 0 th diffraction order, that is to say undiffracted light source image. It is, however, also possible to use higher diffraction orders. A plurality of diffraction orders may also be used for generating the intensity distribution, for example in order to increase the precision of the measurement method, since a plurality of light source images can be detected. Owing to the predetermined grating period, the spacings of the maxima and/or minima in the intensity distribution can be predetermined very accurately. It is possible to predetermine the accuracy of the determination of the relative position of the first location in relation to the second location very accurately.
- the second location is an eye pupil of the observer
- the relative position of the first location in relation to the eye pupil of the observer is determined in the coordinate system of the camera.
- the eye pupils of the observer are very conspicuous points or regions on the face of the observer. They can therefore be recognized relatively simply by evaluation logic connected to the camera.
- the determination of the relative position of the first location in relation to the position of an eye pupil of the observer can make control possible as a function of the eye pupil position of the observer. In particular, observers who cannot otherwise be distinguished on physical grounds can benefit from this.
- the first location is brought to coincide with a predeterminable region of the face of the observer, in particular with the eye pupil of the observer, by variation of the predetermined illumination. In this way, observer tracking can be carried out.
- an image to be displayed to the observer is used as the intensity distribution of the illumination light in a plane of a light source image or as a light source image.
- the use of the image to be displayed to the observer can make it possible to carry out the measurement method even when it is used as a display device for the observer.
- the representation may be adapted to a varying position of the observer.
- the second location of the object is defined by predetermined illumination by means of the display device with a second intensity distribution of the illumination light in a plane of a second light source image.
- the distance between the first location of the object and the second location can in this way be known in the coordinate system of the display device, and the position and orientation of the camera in relation to the display device can therefore be determined from the relative distance of the first location in relation to the second location in the coordinate system of the camera.
- the second intensity distribution of the illumination light in the plane of the second light source image may have a light source image of a diffraction order.
- the use of diffraction orders as light source images can have the advantage that their distances, or the underlying diffraction angles, can be predetermined in a fixed way by a raster of the display device. The reproducibility of the method can therefore be improved.
- a predeterminable pattern is formed on the object, in particular the face of the observer, with the first and second intensity distributions of the illumination light, an image of the pattern is recorded with the camera, and the recorded image of the pattern is examined for differences from the predeterminable pattern.
- a first diffraction order is used as the first light source image and a different diffraction order is used as the second light source image.
- the use of defined diffraction orders as light source images can have the advantage that their distance can be predetermined in a fixed way by a raster of the display device, so that the measured relative positions can be attributed to absolute positions.
- the diffraction pattern is given by the raster of the display device, or of a controllable spatial light modulator of the display device, the wavelength of the light used, or the wavelengths used, and the distance to the illuminated plane, i.e. the distance to the illuminated object.
- a calibrated object is used.
- a calibrated object is intended to mean an object having a sufficiently accurately known shape. From the determination of the relative position of the first location of the object in relation to the second location of the calibrated object in the coordinate system of the camera, the position and orientation of the camera can be determined with improved accuracy in relation to the coordinate system of the display device.
- the coordinate system of the camera is calibrated in relation to a coordinate system of the display device from the relative position of the first location in relation to the second location in the coordinate system of the camera.
- the calibration of the coordinate system of the camera can make it possible to obviate continuous determination of the relative position, since the position of the second location of the object in the coordinate system of the display device can also be determined without having to mark a first location of the object by predetermined illumination.
- Calibration is only necessary at relatively large distances, when the orientation and/or position of the camera have been altered. Calibration may, in particular, be necessary after transport of the apparatus. It is conceivable to carry out the calibration at predetermined time intervals. It may, however, also be envisioned to carry out the calibration only in response to explicit requirement by the observer.
- the camera is arranged at a predetermined distance and/or in a predetermined orientation with respect to the display device, and the position of the second location in a coordinate system of the display device is determined from the relative position of the first location in relation to the second location in the coordinate system of the camera. In this way, in particular, the shape of the object can be determined.
- the first light source image and the second light source image is generated by an optical system of the display device and by predetermined illumination of a controllable spatial light modulator with light of a first visible wavelength and/or a second visible wavelength and/or a third visible wavelength and/or an infrared wavelength, and the camera and/or a further camera is provided with a filter which is transmissive essentially only for light of the first visible wavelength and/or the second visible wavelength and/or the third visible wavelength and/or infrared wavelength.
- the signal-to-noise ratio can be improved.
- an influence of ambient light on the measurement result can be reduced.
- the use of a filter which is transmissive for light of infrared wavelength can be advantageous, in particular, when recording the observer.
- the position of the eye pupils of the observer may possibly be simpler to determine when the filter of the camera transmits only light of infrared wavelength.
- the observers are shown colored light source images which are formed by light of three wavelengths. By the use of all three wavelengths, the accuracy of the measurements can be improved.
- the relative position of the first location in relation to the second location is determined in a second coordinate system of a second camera.
- a second camera in addition to information about the directions in which the first location of the object and the second location of the object lie, it is also possible to obtain information about the distance of the first and second objects from the display device. Further cameras may possibly further improve the spatial resolution.
- a display device in particular a holographic or autostereoscopic display device
- a viewing window of an image to be displayed to the observer is used as the intensity distribution of the illumination light in a plane of a light source image or as a light source image
- the relative position of the first location in relation to the eye pupil of the observer is determined in the coordinate system of the camera, and the first location is brought to coincide with a predeterminable region of the face of the observer, in particular with the eye pupil of the observer, by variation of the predetermined illumination.
- the measurement method may be carried out for both eye pupils.
- the observer may be provided with specific image information for each eye pupil. In this way, for example, a particularly good depth impression can be imparted.
- the viewing window may be tracked continuously to the position of the eyes, so that it is possible to avoid light images of higher diffraction orders from being picked up by the eye pupils.
- the object mentioned above is achieved by an apparatus for carrying out the measurement method, wherein the apparatus comprises a display device, a camera and an evaluation unit for determining the position of the first location in a coordinate system of the camera.
- the camera comprises a CCD sensor.
- CCD sensors can have a particularly large dynamic range, that is to say record both very bright and very dark regions of the image region.
- the camera may also comprise a CMOS sensor.
- CMOS sensors have a larger dynamic range than CCD sensors, CCD sensors generally having a higher bit depth in comparison with CMOS sensors.
- CMOS sensors can typically also record long-wavelength infrared light.
- the camera could also be a color camera. By the additional use of color information, the accuracy of the relative position determination can be improved further.
- the apparatus comprises a light source and an optical system, and an intensity distribution of the illumination light in a plane of a light source image can be generated with the light source and the optical system.
- a reliable relative position of the first location of the object to a second location of the object can be determined in a coordinate system of a camera, the second location being the eye pupil of the observer.
- At least one narrow bandpass filter could be used.
- the transmission characteristic of a triple bandpass filter is shown in FIG. 5 .
- the transmission is plotted as a function of the wavelength of the light used.
- the transmission can be optimized in such a way that it respectively acts for a plurality of narrowband spectral ranges. Accordingly, it is possible to use corresponding spectral windows for example for (457 ⁇ 3) nm, (532 ⁇ 3) nm, (640 ⁇ 3) nm and/or (780 ⁇ 5) nm.
- Such spectral filters are now already mass products, the main field of use of which is in fluorescence light microscopy or in color-separated three-dimensional representation of objects.
- infrared wavelength for example 780 nm
- 780 nm infrared wavelength
- the ambient light can be suppressed by a factor of, for example, >200.
- infrared line scanning i.e. a line raster
- an additional subsystem of the measurement method according to the invention is furthermore possible, for example, to use infrared line scanning (i.e. a line raster) with the use of an additional subsystem of the measurement method according to the invention.
- the detection or determination of the eye position may be carried out with the aid of a CMOS array or a CMOS line.
- a retina scan in this case constitutes a rapid possibility for tracking the eye position.
- This may be implemented with the use of a near-infrared LED, which produces a predetermined spatial correlation. Accordingly, the position of an eye or a pupil can correlate with a predefined or predetermined illumination function.
- a plurality of light sources could be used, the light of which is emitted in different directions. Accordingly, it is possible to illuminate the heads of a plurality of observers and the eyes from different directions.
- the different illumination directions may be switched on and off, namely for example by switching light sources of different directions on and off. This may be done sequentially or simultaneously, for example sequentially in the case of illumination with light with essentially the same wavelength. If illumination light of different wavelengths is used, this could also be carried out simultaneously.
- a scanning solution could be used.
- a scan (raster) may for example be carried out in one direction or in two, three or more different directions.
- Each one-dimensional scan i.e. each raster of a light beam along an essentially rectilinear line
- the use of a narrowband spectral filter may be employed in order to separate the light source of the scanner from the ambient light and therefore increase the signal-to-noise ratio of the detected signal.
- the evaluation or determination of the position of the eyes may be carried out sequentially, for example in two different directions. Accordingly, the x and y positions of the eye, or of the eye pupil, may for example be determined within 1/1000 of a second, when a CMOS line detector is used.
- a scan region may be defined or established. This scan region may be substantially smaller than the overall scan region.
- the scans may be carried out in these reduced scan regions, so that the scan speed and the eye detection can be carried out more rapidly.
- a line scanner arranged in the x direction, or in the horizontal direction could be provided on one side of the display device and a linear detector or a (two-dimensional) detection matrix could be arranged on the other side of the display device. It is furthermore possible to provide line scanners and detectors on both sides of the display device. A comparable arrangement may be provided on the upper and lower sides of the display device, for example in order to implement a y scan.
- a cost-efficient solution could, for example, be carried out in that a DOE (diffractive optical element) is arranged in front of an IR-LED (infrared light-emitting diode) and a one-dimensional scan mirror, the IR-LED and the one-dimensional scan mirror being arranged in a standard IC package which also contains all the electronic driving, in order to drive the small scanning mirror.
- DOE diffractive optical element
- This detection principle could also be used in conjunction with an HMD (head-mounted display, a display adapted to an observer's head).
- HMD head-mounted display, a display adapted to an observer's head.
- a restricted scan range may be selected so that signals can be detected from the restricted scan range and read out with an increased repetition rate.
- a module for finding an observer's head which only detects the position of the observer's head.
- These position data of the observer's head can then be used for the selected scan range, for example by using two one-dimensional scanners.
- a small region of 25 mm ⁇ 25 mm or even substantially less could be used, this region being centered approximately on the middle of the eye pupil.
- This region, or this surface is illuminated with the one-dimensional or two-dimensional line scan.
- Fast photodetector diodes may be arranged on the edge of the display device. These detectors may for example be provided with narrowband filters, which are tuned to the illumination wavelength—for example near-infrared light-emitting diodes. Accordingly, a rapid subsystem is thereby produced which can be used in the display device specifically when the display device is configured in the form of a direct-view device, an HMD or a mobile display or a tablet.
- the photodetectors or photodiodes may also have a specially tuned angle-dependent direction characteristic, which detect in particular light from predetermined spatial regions or tracking regions.
- the amount of light which does not come from the scan range, or the detection range can be reduced.
- the apparatus comprises a filter, which is arranged in front of the first camera and is transmissive essentially only for light of a first visible wavelength and/or a second visible wavelength and/or a third visible wavelength and/or infrared wavelength.
- FIG. 1 shows a flow chart according to an exemplary embodiment of the measurement method according to the invention
- FIG. 2 shows an apparatus for carrying out the measurement method according to an exemplary embodiment according to the invention
- FIG. 3 shows, in a plane of the light source images, the position of the eyes of an observer relative to the light source images of the illumination light, the plane of the light source images in this exemplary embodiment being arranged parallel to the surface of the controllable spatial light modulator,
- FIG. 4 shows a plan view of an exemplary embodiment of the apparatus for carrying out the measurement method according to the invention and the eyes of an observer
- FIG. 5 shows the transmission characteristic of a triple bandpass filter in a diagrammatic representation.
- FIG. 1 shows a flow chart according to an exemplary embodiment of the measurement method according to the invention in a schematic representation.
- a first step 1 an object is illuminated by predetermined illumination by means of a display device, and a first location of an object is marked by the intensity distribution of the illumination light in a plane of a light source image.
- a second step 2 the relative position of the first location in relation to a second location of the object is determined in a coordinate system of a camera.
- FIG. 2 shows an exemplary embodiment of an apparatus 3 according to the invention.
- the apparatus 3 comprises a display device 4 , a camera 5 and an evaluation unit 6 .
- the display device contains a light source 7 , a spatial modulator for light 8 and an optical system 9 .
- a light source of small extent is expanded onto a large area, which is denoted by 7 in FIG. 2 , then an optical system which has a focusing effect at least in one direction generates at least in one direction a light source image which, for example, lies close to the plane 13 .
- 7 is a luminous surface
- 13 there is an intensity distribution which is proportional to the plane wave spectrum of the luminous surface.
- a spatial modulator may in this case introduce diffraction broadening.
- Spatial modulators for light 8 are also known by the term spatial light modulator, or the abbreviation SLM, and are used to impose a spatial modulation on light.
- SLMs modulate the intensity of the light.
- SLMs which modulate the phase are also known, and it is furthermore conceivable to modulate the phase and the intensity simultaneously with an SLM.
- the display device 4 is driven by the evaluation unit 6 via a connection 10 and the illumination with which the display device 4 illuminates an object 11 is predetermined.
- the object 11 is an observer of the display device 4 .
- an intensity distribution of the illumination light 12 is generated in a plane of a light source image 13 , and a first location of the object 11 is thereby marked.
- the intensity distribution generated by the display device in the plane 13 may be much smaller than in FIG. 2 . It may, for example, involve a viewing window which has a dimension of 10 mm ⁇ 10 mm, or even only a diameter of 3 mm.
- the intensity distribution of the illumination light 12 in the plane of the light source image 13 is recorded and the first location of the object is recorded with the camera 5 .
- the camera 5 likewise records a second location of the object 11 , here the eye pupil 14 of the observer. From the data provided by the camera 5 via the connection 15 , the evaluation unit 6 then determines the relative position of the first location in relation to the second location of the object 11 in the coordinate system of the camera 5 .
- FIG. 3 shows the position of the eyes 16 and 17 of an observer, whose face (not shown in FIG. 3 ) is illuminated by means of a display device (not shown in FIG. 3 ), in particular a holographic or autostereoscopic display device.
- a display device not shown in FIG. 3
- the intensity distribution of the illumination light frequently has light source images of a plurality of diffraction orders 18 - 30 .
- FIG. 3 shows diffraction orders 18 - 30 which were obtained by means of two-dimensional encoding and are represented as black circular areas.
- the undiffracted light source image 18 is denoted as the light source image of the 0 th diffraction order.
- the viewing window 31 is outlined as an ellipse in FIG. 3 .
- Light source images lying further away from the viewing window 31 may, for example, be reduced in their intensity by a cosinusoidally extending apodization profile of the pixels of the controllable spatial modulator, as described for example in WO 2009/156191 A1. If, as shown in FIG. 3 , the viewing window 31 coincides with the position of the eye 16 , then the other light source images can be suppressed to such an extent that they are no longer perceptible to the other eye 17 . So that this can be done even in the event of movement of the eyes, the illumination is typically adapted continuously to the position of the eyes. The eye movements to be taken into account for this are indicated by four short arrows in FIG. 3 .
- FIG. 4 shows another exemplary embodiment of an apparatus 32 according to the invention.
- the apparatus 32 comprises a display device 33 , two cameras 34 , 35 and an evaluation unit 36 .
- the orientation and positioning of the two cameras 34 , 35 in relation to the display device 33 are predetermined in a fixed way by the mounting. In other words, the coordinate systems of the two cameras 34 , 35 are calibrated.
- the space in front of the apparatus 32 is recorded by the two cameras 34 , 35 , the face of the observer being recognized with the aid of the camera images.
- the position of the eye pupils 37 , 38 is determined in the calibrated coordinate system of the respective camera 34 , 35 .
- two direction vectors 39 , 40 are first obtained for the eye pupil 37 , which extend from the position of the cameras 34 , 35 and point in the direction of the eye pupil 37 . From the point of intersection of the straight lines spanning the two direction vectors 39 , 40 , it is then possible to determine the distance of the eye pupil 37 from the display device 33 , or the relative position between the eye pupil 37 and the display device 33 . The same procedure is carried out with the second eye pupil 37 .
- the distances of the light source images generated on an object may be predetermined in a fixed way by the native pixel raster of the display device 33 , e.g. as a Fourier transform of the controllable spatial light modulator, in particular when a display device according to WO 2006/066919 A1 is used, or the measurement method according to the invention is applied to a display device as disclosed in WO 2006/066919 A1.
- the light source images of a plurality of diffraction orders 18 - 30 may be recorded with the respective camera 34 , 35 , and the position of the object may be determined from the relative position of the light source images in the respective coordinate system of the camera 34 , 35 . Since the position of the light source images in relation to the display device 33 is known, the apparatus can therefore be recalibrated.
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DE102011055967.1A DE102011055967B4 (en) | 2011-12-02 | 2011-12-02 | Measuring method and device for carrying out the measuring method |
PCT/EP2012/074289 WO2013079727A1 (en) | 2011-12-02 | 2012-12-03 | Measurement method and device for performing the measurement method |
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US10775878B2 (en) * | 2015-04-10 | 2020-09-15 | Sony Interactive Entertainment Inc. | Control of personal space content presented via head mounted display |
US10564429B2 (en) | 2018-02-01 | 2020-02-18 | Varjo Technologies Oy | Gaze-tracking system using illuminators emitting different wavelengths |
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US20140327612A1 (en) | 2014-11-06 |
CN104205006A (en) | 2014-12-10 |
DE102011055967A1 (en) | 2013-06-06 |
TWI588441B (en) | 2017-06-21 |
DE102011055967B4 (en) | 2016-03-10 |
CN104205006B (en) | 2018-04-06 |
WO2013079727A1 (en) | 2013-06-06 |
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